Some estimates of performance for PID-like control of robotic manipulators
1998 (English)In: ROBOT CONTROL 1997, VOLS 1 AND 2, 1998, 85-90 p.Conference paper (Refereed)
A class of robotic manipulators having prismatic and revolute joints is considered. It is supposed that feedback control laws have proportional-integral-differential (PID) or PID-like forms. It ensures the astatism property of the closed-loop systems. The following results are presented and proved. There are simple inequalities for feedback gains ensuring exponential stability of a desired position under all initial deviations which are small enough. The stability domain can be estimated as well as the stability degree. Under a coordinated growth of coefficients, the stability region is enlarged but the stability degree goes down. The main properties of PID regulated system are not changed if a "dirty" derivatives are used instead of pure ones. PID regulators ensure the tracking with a bounded error under any desired movements which are changed slowly enough.
Place, publisher, year, edition, pages
1998. 85-90 p.
, IFAC SYMPOSIA SERIES, ISSN 0962-9505
robot control, PID controllers, exponential stability domain and degree
IdentifiersURN: urn:nbn:se:umu:diva-88150ISI: 000075339700013ISBN: 0-08-043026-0OAI: oai:DiVA.org:umu-88150DiVA: diva2:713618
5th IFAC Symposium on Robot Control 1997 (SYROCO 97), SEP 03-05, 1997, NANTES, FRANCE